A new method for measuring a large set of poses with a single telescoping ballbar

摘要: Abstract This paper presents a novel method of measuring set more than fifty poses under static conditions, using single telescoping ballbar and two fixtures, each bearing three equally spaced magnetic cups. The position accuracy the device is in ±0.003 mm range, making it suitable for pose repeatability industrial robots even calibrating them. proposed an extension known approach hexapod (a Stewart-Gough platform) comprising legs provides original solution to constraint imposed by limited measurement range current ballbars, namely innovative geometry capable assembly 144 different configurations. An additional advantage that one fixture with respect other can be obtained these configurations solving cascade quadratic equations six leg lengths as input. application numerous ABB IRB 120 robot presented.